2009
DOI: 10.1007/978-3-642-02921-9_2
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Abstract: In this paper we present a new method for generating humanoid robot movements. We propose to merge the intuitiveness of the widely used key-frame technique with the optimization provided by automatic learning algorithms. Key-frame approaches are straightforward but require the user to precisely define the position of each robot joint, a very time consuming task. Automatic learning strategies can search for a good combination of parameters resulting in an effective motion of the robot without requiring user eff… Show more

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Cited by 3 publications
(3 citation statements)
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“…Teach-in techniques for industrial manipulators allow to design complex motions by manually moving the robot on a path leading to the desired motion during playback execution. The intuitive simplicity of this approach motivates the method of designing motions using key frames [5]. Different sets of joint positions are specified leading to key motion positions.…”
Section: Motion Generation and Stabilitymentioning
confidence: 99%
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“…Teach-in techniques for industrial manipulators allow to design complex motions by manually moving the robot on a path leading to the desired motion during playback execution. The intuitive simplicity of this approach motivates the method of designing motions using key frames [5]. Different sets of joint positions are specified leading to key motion positions.…”
Section: Motion Generation and Stabilitymentioning
confidence: 99%
“…Similar to the approach used in [5] a key frame based motion is modeled as a list of positions. The motion is executed by interpolating between these positions within given times.…”
Section: Key Frame Based Feed Forward Controlmentioning
confidence: 99%
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